diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index 81358900e..8b290dd85 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -242,6 +242,9 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 			set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
 
 			# Exclude from 'make all' and 'make install'
+			# QNX is cross-compiled for, and does not support make, cmake, or ctest natively.
+			# Therefore, running tests must be done by manually copying test executables and required data files over.
+			# for more info, check PR#1968 https://github.com/borglab/gtsam/pull/1968
 			if(NOT QNX)
 				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
 			endif()
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 36a11ac0e..e90c86d94 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -101,6 +101,11 @@ ENDIF(MSVC)
 # Generate and install config and dllexport files
 #For config.in searches
 if(QNX)
+# QNX is cross-compiled for, and does not support make, cmake, or ctest natively. Additionally, space is limited in our embedded usecase.
+# Therefore, running tests must be done by manually copying test executables and required data files over, preferably avoiding
+# copying the whole source tree. Thus, we set the default file lookup to the recommended test folder, with the option
+# to manually change it.
+# for more info, check PR#1968 https://github.com/borglab/gtsam/pull/1968
 set(QNX_TARGET_DATASET_DIR "/data/home/root/qnxuser/test" CACHE STRING "Path to your on-target testing folder.")
 endif()
 configure_file(config.h.in config.h)
diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
index a96ede430..5d5067a29 100644
--- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
+++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
@@ -157,6 +157,11 @@ TEST(Serialization, NoiseModelFactor1_backwards_compatibility) {
                          "/../../gtsam/nonlinear/tests/priorFactor.xml",
                          factor_deserialized_xml);
   #else
+  /*QNX is cross-compiled for, and does not support make, cmake, or ctest natively. Additionally, space is a large constraint on embedded systems.
+   * Therefore, running tests must be done by manually copying test executables and required data files over, preferably avoiding
+   * copying the whole source tree. Thus, we set the default file lookup to the same folder. Please copy data files to the same folder as this test.
+   * for more info, check PR#1968 https://github.com/borglab/gtsam/pull/1968
+   */
   bool c = deserializeFromXMLFile(
                         "priorFactor.xml",
                         factor_deserialized_xml);